version: 66.08
glider: 141
mission: 15
dive: 310
start: 4 7 111 20 32 25
data:
$ID,141
$MISSION,15
$DIVE,310
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51684
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,559.0387
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-35151.645
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,2864
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2490
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,3030
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.184971
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907749
$SEABIRD_T_H,0.0006300722
$SEABIRD_T_I,2.4342404e-05
$SEABIRD_T_J,2.663412e-06
$SEABIRD_C_G,-9.8752003
$SEABIRD_C_H,1.1299734
$SEABIRD_C_I,-0.00041852854
$SEABIRD_C_J,0.00012689357
$GPS1,070411,162725,6658.370,-5959.671,0,7109.9,0,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.95
$_SM_ANGLEo,-0.6
$GPS2,070411,162725,6658.370,-5959.671,0,7109.9,0,-37.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W2
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,253.4,32852,-17.5,-10.000
$D_GRID,834
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-6.70,0.000,2,0.000,0.000,2893,3695,3000,0,0,0,0,0,0
$GC,27,-0.62,-146.0,9.8,-0.0,1,53,0.62,4.28,-18.08,0.000,4,0.106,0.068,2672,1075,3628,0,0,0,0,0,0
$GC,262,-0.55,-146.0,46.5,-16.6,42,269,0.00,2.30,0.00,0.000,6,0.000,0.067,2671,2494,3629,0,0,0,0,0,0
$GC,610,-0.42,-146.0,110.3,-17.9,99,615,0.20,2.33,0.00,0.000,4,0.233,0.081,2718,3899,3630,0,0,0,0,0,0
$GC,661,-0.48,-146.0,117.2,-10.5,103,665,0.00,2.25,0.00,0.000,6,0.000,0.052,2718,2479,3630,0,0,0,0,0,0
$GC,992,-0.50,-146.0,151.6,-9.7,134,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2478,3628,0,0,0,0,0,0
$GC,1312,-0.54,-146.0,182.9,-9.4,164,1316,0.00,2.38,0.00,0.000,4,0.000,0.080,2718,3905,3628,0,0,0,0,0,0
$GC,1353,-0.62,-146.0,186.8,-9.1,167,1360,0.17,2.25,0.00,0.000,6,0.110,0.050,2658,2484,3628,0,0,0,0,0,0
$GC,1678,-0.51,-146.0,231.8,-14.7,198,1683,0.15,2.30,0.00,0.000,4,0.223,0.070,2692,1076,3628,0,0,0,0,0,0
$GC,1696,-0.42,-146.0,234.3,-14.8,199,1701,0.12,2.33,0.00,0.000,6,0.219,0.067,2722,2494,3628,0,0,0,0,0,0
$GC,2021,-0.49,-146.0,261.9,-7.8,229,2025,0.00,2.33,0.00,0.000,4,0.000,0.083,2722,3900,3628,0,0,0,0,0,0
$GC,2066,-0.60,-146.0,265.4,-7.4,232,2074,0.15,2.22,0.00,0.000,6,0.117,0.052,2669,2484,3627,0,0,0,0,0,0
$GC,2392,-0.55,-146.0,302.2,-11.4,263,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2485,3627,0,0,0,0,0,0
$GC,2711,-0.51,-146.0,338.8,-11.4,293,2713,0.12,0.00,0.00,0.000,6,0.215,0.000,2698,2484,3627,0,0,0,0,0,0
$GC,3030,-0.54,-146.0,368.6,-8.7,323,3035,0.00,2.35,0.00,0.000,4,0.000,0.080,2698,3905,3626,0,0,0,0,0,0
$GC,3052,-0.59,-146.0,370.9,-9.4,324,3059,0.00,2.22,0.00,0.000,6,0.000,0.052,2698,2482,3627,0,0,0,0,0,0
$GC,3378,-0.63,-146.0,398.0,-8.1,355,3380,0.12,0.00,0.00,0.000,6,0.134,0.000,2656,2482,3627,0,0,0,0,0,0
$GC,3696,-0.57,-146.0,434.9,-12.1,385,3700,0.00,2.38,0.00,0.000,4,0.000,0.078,2656,3909,3627,0,0,0,0,0,0
$GC,3737,-0.52,-146.0,439.7,-11.9,388,3742,0.15,2.25,0.00,0.000,6,0.200,0.050,2691,2482,3627,0,0,0,0,0,0
$GC,4062,-0.55,-146.0,468.6,-8.5,418,4066,0.00,2.35,0.00,0.000,4,0.000,0.077,2691,3907,3628,0,0,0,0,0,0
$GC,4085,-0.59,-146.0,470.6,-8.4,419,4091,0.00,2.22,0.00,0.000,6,0.000,0.050,2691,2484,3627,0,0,0,0,0,0
$GC,4410,-0.63,-146.0,499.0,-8.8,450,4414,0.00,2.35,0.00,0.000,4,0.000,0.077,2691,3900,3628,0,0,0,0,0,0
$GC,4431,-0.67,-146.0,500.5,-8.2,451,4436,0.12,2.22,0.00,0.000,6,0.129,0.050,2649,2489,3628,0,0,0,0,0,0
$GC,4756,-0.60,-146.0,539.9,-12.1,481,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2489,3628,0,0,0,0,0,0
$GC,5077,-0.53,-146.0,578.3,-11.9,511,5082,0.17,2.35,0.00,0.000,4,0.205,0.078,2692,3900,3629,0,0,0,0,0,0
$GC,5097,-0.53,-146.0,580.8,-10.1,512,5105,0.00,2.25,0.00,0.000,6,0.000,0.050,2692,2489,3628,0,0,0,0,0,0
$GC,5432,-0.58,-146.0,607.8,-8.1,538,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2488,3629,0,0,0,0,0,0
$GC,5737,-0.63,-146.0,632.2,-8.0,548,5741,0.00,2.35,0.00,0.000,4,0.000,0.076,2692,3903,3629,0,0,0,0,0,0
$GC,5758,-0.68,-146.0,634.0,-8.0,548,5766,0.15,2.22,0.00,0.000,6,0.112,0.049,2638,2487,3629,0,0,0,0,0,0
$GC,6072,-0.60,-146.0,671.4,-12.3,559,6073,0.12,0.00,0.00,0.000,6,0.217,0.000,2666,2487,3629,0,0,0,0,0,0
$GC,6382,-0.60,-146.0,702.2,-10.0,569,6386,0.00,2.33,0.00,0.000,4,0.000,0.077,2666,3900,3630,0,0,0,0,0,0
$GC,6415,-0.60,-146.0,706.0,-9.7,570,6419,0.00,2.20,0.00,0.000,6,0.000,0.050,2667,2490,3629,0,0,0,0,0,0
$STATE,6650,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6650,begin apogee
$GC,6655,-0.12,0.0,727.3,8.8,578,6785,0.50,0.00,123.53,1.387,6,0.190,0.000,2811,2258,3030,0,0,0,0,0,0
$STATE,6786,end apogee,CONTROL_FINISHED_OK
$STATE,6786,begin climb
$GC,6788,0.62,146.0,731.3,0.0,582,6927,0.80,2.55,130.15,1.342,4,0.142,0.073,3060,881,2432,0,0,0,0,0,0
$GC,6977,0.62,146.0,717.3,25057.2,588,6981,0.00,2.45,0.00,0.000,6,0.000,0.057,3060,2276,2428,0,0,0,0,0,0
$GC,7307,0.62,146.0,678.8,25057.2,599,7311,0.00,2.42,0.00,0.000,4,0.000,0.073,3060,3694,2425,0,0,0,0,0,0
$GC,7351,0.62,146.0,673.1,25057.2,600,7355,0.00,2.35,0.00,0.000,6,0.000,0.057,3070,2287,2425,0,0,0,0,0,0
$GC,7669,0.62,146.0,634.6,25057.2,611,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2287,2424,0,0,0,0,0,0
$GC,7975,0.62,146.0,597.5,25057.2,621,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2287,2424,0,0,0,0,0,0
$GC,8295,0.62,146.0,558.7,25057.2,651,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2287,2423,0,0,0,0,0,0
$GC,8613,0.62,146.0,521.0,25057.2,681,8617,0.00,2.30,0.00,0.000,4,0.000,0.072,3081,865,2423,0,0,0,0,0,0
$GC,8646,0.62,146.0,516.7,25057.2,683,8653,0.00,2.30,0.00,0.000,6,0.000,0.060,3081,2277,2422,0,0,0,0,0,0
$GC,8973,0.62,146.0,477.3,25057.2,714,8977,0.00,2.33,0.00,0.000,4,0.000,0.074,3080,3692,2422,0,0,0,0,0,0
$GC,9017,0.62,146.0,470.9,25057.2,717,9024,0.00,2.30,0.00,0.000,6,0.000,0.058,3090,2270,2422,0,0,0,0,0,0
$GC,9342,0.62,146.0,428.6,25057.2,748,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2270,2422,0,0,0,0,0,0
$GC,9664,0.62,146.0,386.7,25057.2,778,9668,0.00,2.30,0.00,0.000,4,0.000,0.068,3102,858,2422,0,0,0,0,0,0
$GC,9697,0.62,146.0,381.7,25057.2,780,9704,0.15,2.30,0.00,0.000,6,0.213,0.060,3067,2278,2422,0,0,0,0,0,0
$GC,10022,0.62,146.0,345.0,25057.2,811,10026,0.00,2.30,0.00,0.000,4,0.000,0.073,3067,3686,2422,0,0,0,0,0,0
$GC,10077,0.62,146.0,337.8,25057.2,815,10084,0.00,2.28,0.00,0.000,6,0.000,0.057,3075,2271,2422,0,0,0,0,0,0
$GC,10402,0.62,146.0,300.0,25057.2,846,10406,0.00,2.28,0.00,0.000,4,0.000,0.069,3085,858,2422,0,0,0,0,0,0
$GC,10442,0.62,146.0,295.5,25057.2,849,10447,0.00,2.30,0.00,0.000,6,0.000,0.059,3086,2281,2422,0,0,0,0,0,0
$GC,10769,0.62,146.0,257.4,25057.2,879,10773,0.00,2.28,0.00,0.000,4,0.000,0.074,3085,3686,2422,0,0,0,0,0,0
$GC,10843,0.62,146.0,247.9,25057.2,885,10847,0.12,2.28,0.00,0.000,6,0.214,0.058,3068,2269,2422,0,0,0,0,0,0
$GC,11173,0.62,146.0,215.4,25057.2,916,11174,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2268,2422,0,0,0,0,0,0
$GC,11493,0.62,146.0,186.6,25057.2,946,11497,0.00,2.35,0.00,0.000,4,0.000,0.072,3067,3691,2422,0,0,0,0,0,0
$GC,11582,0.62,146.0,177.2,25057.2,953,11589,0.00,2.28,0.00,0.000,6,0.000,0.057,3076,2271,2422,0,0,0,0,0,0
$GC,11910,0.62,146.0,148.6,25057.2,984,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2270,2422,0,0,0,0,0,0
$GC,12227,0.62,146.0,123.0,25057.2,1014,12228,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2271,2422,0,0,0,0,0,0
$GC,12546,0.62,146.0,100.3,25057.2,1044,12550,0.00,2.35,0.00,0.000,4,0.000,0.072,3076,3694,2421,0,0,0,0,0,0
$GC,12609,0.62,146.0,94.9,25057.2,1054,12616,0.00,2.30,0.00,0.000,6,0.000,0.057,3086,2264,2421,0,0,0,0,0,0
$STATE,12822,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,12822,begin subsurface finish
$FINISH1,81.1,1.026308,58
$GC,12828,0.07,58.4,81.1,-25057.2,1092,12841,0.65,2.42,-2.72,0.000,4,0.175,0.084,2894,3691,2799,0,0,0,0,0,0
$FINISH2,80.3
$STATE,12842,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12842,begin surface
$RAFOS_CLK,721
$RAFOS,65,1615217059,-0.000000,-4481645984310148571594752.000000,187,164,65,162,244,27,64503,16550,28152,122,207,196
$RAFOS,5,1302208866,20.700001,20.684999,81,60,57,56,56,54,913,184,210,219,134,152
$RAFOS,4,1302208383,20.566668,20.550833,110,69,65,57,55,52,695,220,186,118,198,154
$RAFOS,3,1302207904,20.433332,20.417778,60,56,55,52,50,48,221,181,206,151,119,139
$RAFOS_FIX,6655.994629,-6005.286621,070411,202028,4,98,0.42
$IRIDIUM_FIX,6625.71,-5714.90,310311,212146
$TT8_MAMPS,0.028462
$HUMID,48.81
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.5,20.5
$ALTIM_BOTTOM_PING,81.8,20.6
$24V_AH,22.2,42.966
$10V_AH,10.1,23.780
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,4.625,106.350,253.675,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2879.310,7917.226,310.537,1796.329,173.135,0.000,1257.713,0.000,1777.821,1440.000,19.653,0.000
$DEVICE_MAMPS,232.560,84.150,1386.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.767,842.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150564
$DATA_FILE_SIZE,43324,1094
$CAP_FILE_SIZE,128870,0
$CFSIZE,260165632,231161856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.5
$GPS,070411,202328,6655.995,-6005.287,0,4098.2,0,-37.5